// Copyright 1996-2023 Cyberbotics Ltd.

//

// Licensed under the Apache License, Version 2.0 (the "License");

// you may not use this file except in compliance with the License.

// You may obtain a copy of the License at

//

// https://www.apache.org/licenses/LICENSE-2.0

//

// Unless required by applicable law or agreed to in writing, software

// distributed under the License is distributed on an "AS IS" BASIS,

// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

// See the License for the specific language governing permissions and

// limitations under the License.

#define WB_ALLOW_MIXING_C_AND_CPP_API

#include <webots/gps.h>

#include <webots/GPS.hpp>

#include <cstdlib>

using namespace std;

using namespace webots;

void GPS::enable(int sampling_period) {

wb_gps_enable(getTag(), sampling_period);

}

void GPS::disable() {

wb_gps_disable(getTag());

}

int GPS::getSamplingPeriod() const {

return wb_gps_get_sampling_period(getTag());

}

const double *GPS::getValues() const {

return wb_gps_get_values(getTag());

}

double GPS::getSpeed() const {

return wb_gps_get_speed(getTag());

}

const double *GPS::getSpeedVector() const {

return wb_gps_get_speed_vector(getTag());

}

const GPS::CoordinateSystem GPS::getCoordinateSystem() const {

return CoordinateSystem(wb_gps_get_coordinate_system(getTag()));

}

string GPS::convertToDegreesMinutesSeconds(double decimalDegree) {

const char *coordinatesString = wb_gps_convert_to_degrees_minutes_seconds(decimalDegree);

std::string coordinates = string(coordinatesString);

free(static_cast<void *>(const_cast<char *>(coordinatesString)));

return coordinates;

}